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An integrated control strategy combining fuzzy gain with dynamic feedforward for parallel shipborne stabilisation platforms

Published online by Cambridge University Press:  26 August 2025

Jiayue Zhang Open the ORCID record for Jiayue Zhang [Opens in a new window] ,
Hengchun Cui ,
Jun Wu Open the ORCID record for Jun Wu [Opens in a new window]  and
Yanling Tian
Jiayue Zhang
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China Beijing Key Laboratory of Transformative High-end Manufacturing Equipment and Technology, Tsinghua University, Beijing, 100084, China
Hengchun Cui
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China Beijing Key Laboratory of Transformative High-end Manufacturing Equipment and Technology, Tsinghua University, Beijing, 100084, China
Jun Wu*
Affiliation:
Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China Beijing Key Laboratory of Transformative High-end Manufacturing Equipment and Technology, Tsinghua University, Beijing, 100084, China
Yanling Tian
Affiliation:
School of Engineering, University of Warwick, Coventry, CV4 7AL, UK
*
Corresponding author. Jun Wu; Email: jhwu@mail.tsinghua.edu.cn
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Abstract

The control of shipborne stabilisation platforms is challenging due to the effects of platform dynamic characteristics and unpredictable wave disturbances in operational environments. This paper proposes an integrated control strategy that combines dynamic feedforward and fuzzy gain control. Based on the derived dynamic model of the shipborne stabilisation platform, a dynamic feedforward controller is designed to mitigate the effects of platform dynamics on motion accuracy. In the fuzzy gain control design, scaling modules are proposed to enhance the fuzzy controller’s adaptability to varying operating conditions and unpredictable wave disturbances. The motion of the stabilisation platform is simulated by taking the motion of the lower platform calculated based on the wave fluctuations in marine environments as the input. The prototype experiment is conducted by using a large-scale parallel mechanism to simulate the wave environments. Simulation and experimental results indicate that the proposed control strategy achieves real-time disturbance compensation without precise mathematical modelling or pre-training, and demonstrates good adaptability.

Keywords

shipborne stabilisation platformcontrol strategycontrol of robotic systemsfuzzy gain controldynamic feedforward control

Information

Type
Research Article
Information
Robotica , First View , pp. 1 - 17
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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